Hierarchical Navigation Architecture and Robotic Arm Controller for a Sample Return Rover

Author

Dimitrov, Vassil ; DeDonato, Mathew ; Panzica, Adam ; Zutshi, Samir ; Wills, Mitchell ; Padir, Taskin

Author_Institution

Robot. Eng. Program, Worcester Polytech. Inst., Worcester, MA, USA

fYear

2013

fDate

13-16 Oct. 2013

Firstpage

4476

Lastpage

4481

Abstract

This work presents a hierarchical navigation architecture and cascade classifier for sample search and identification on a space exploration rover. A three tier navigation architecture and inverse Jacobian based robot arm controller are presented. The algorithms are implemented on AERO, the Autonomous Exploration Rover, participating in the NASA Sample Return Robot Centennial Challenge in 2013 and initial results are demonstrated.

Keywords

aerospace robotics; aircraft navigation; manipulators; mobile robots; planetary rovers; AERO; NASA sample return robot centennial challenge; autonomous exploration rover; cascade classifier; inverse Jacobian based robot arm controller; robotic arm controller; sample return rover; space exploration rover; tier navigation architecture; Manipulators; Navigation; Planning; Robot kinematics; Robot sensing systems; driving with tentacles; histogram of gradients; inverse jacobian; sample return rover;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man, and Cybernetics (SMC), 2013 IEEE International Conference on

Conference_Location

Manchester

Type

conf

DOI

10.1109/SMC.2013.761

Filename

6722516

Link To Document

https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3050004